Laboratory tools and experimental facilities including liquid handling systems and methods

Abstract

A laboratory facility liquid handling system includes a pipetting module, laboratory tools, and a drive system. The pipetting module includes a first pipette and a second pipette, each including a pipette shaft and a fluid channel extending through the pipette shaft and terminating at an orifice at an end of the pipette shaft. The laboratory tool includes at least one integral adapter structure and an integral active actuator. The adapter structure is configured to engage the first pipette shaft and releasably secure the laboratory tool to the first pipette shaft. The drive system is operable to: engage the first pipette shaft with the adapter structure to secure the laboratory tool to the pipetting module; move the pipetting module to deliver the laboratory tool; operate the active actuator using the second pipette shaft; and disengage the first pipette shaft from the adapter structure, thereby releasing the laboratory tool from the pipetting module.

Description

Technical Field

[0001] This technology relates to laboratory facility liquid handling systems, and more specifically, to laboratory tools used in laboratory facility liquid handling systems, and laboratory facility liquid handling systems and methods incorporating such laboratory tools. Background Technology

[0002] Laboratory liquid handling systems are used to deliver and manipulate liquid volumes. For example, one or more liquid samples may be provided in containers (e.g., microplates or vials) within the liquid handling system. The liquid handling system may include one or more pipettes for removing portions of the sample from the container (e.g., by aspiration) and / or adding material to the sample (e.g., by dispensing). In some cases, it may be desirable or necessary to move laboratory apparatus or tools within the system. Robotic movement of laboratory apparatus or tools may be desired or necessary, and in some cases, automated and programmed movement of laboratory apparatus or tools may be required. Summary of the Invention

[0003] According to some embodiments, a laboratory facility liquid handling system includes a pipetting module, laboratory tools, and a drive system. The pipetting module includes a first pipette and a second pipette. The first pipette includes a first pipette shaft and a first fluid channel extending through the first pipette shaft and terminating at a first orifice at an end of the first pipette shaft. The second pipette includes a second pipette shaft and a second fluid channel extending through the second pipette shaft and terminating at a second orifice at an end of the second pipette shaft. The laboratory tool includes at least one integral adapter structure and an integral active actuator. The at least one integral adapter structure is configured to engage the first pipette shaft. The at least one adapter structure is configured to releasably secure the laboratory tool to the first pipette shaft. The drive system is operable to: engage a first pipette shaft with the at least one adapter structure to secure laboratory tools to the pipetting module; move the pipetting module to deliver the laboratory tools secured thereto; operate an active actuator using a second pipette shaft; and disengage the first pipette shaft from the at least one adapter structure to release the laboratory tools from the pipetting module.

[0004] According to some embodiments, the laboratory tool is a clamping module, and the active actuator is a clamping mechanism.

[0005] According to some embodiments, the clamping mechanism is a mechanical clamping mechanism.

[0006] In some embodiments, the clamping mechanism includes a clamping finger and an actuator linkage operable to move the clamping finger between an open position and a closed position. The pipetting module is configured to selectively drive a second pipette to displace the actuator linkage, thereby moving the clamping finger between the open and closed positions.

[0007] In some embodiments, the clamping mechanism includes a lever arm connected to the clamping finger, and the pipetting module is configured to selectively drive a second pipette to displace the lever arm and thereby move the clamping finger between an open position and a closed position.

[0008] In some embodiments, the second pipette includes a pipetting tip extending from the end of the second pipette shaft, the actuator linkage includes an engagement feature configured to engage the second pipette shaft when the second pipette is driven to move the actuator linkage between an open position and a closed position, and the engagement feature includes a tip receiving slot defined therein for receiving the pipetting tip.

[0009] According to some embodiments, the clamping mechanism includes at least one spring that biases the clamping finger toward the closed position.

[0010] In some embodiments, the pipetting module includes a third pipette including a third pipette shaft and a third fluid channel extending through the third pipette shaft and terminating at a third orifice at an end of the third pipette shaft. The clamping mechanism includes a second clamping finger and a second actuator linkage operable to move the second clamping finger between an open position and a closed position. The pipetting module is configured to selectively actuate the third pipette to displace the second actuator linkage, thereby moving the second clamping finger between its open position and its closed position.

[0011] According to some embodiments, the experimental facility liquid handling system includes a locator dock configured to support laboratory tools and position the laboratory tools definitively relative to the experimental facility liquid handling system.

[0012] According to some embodiments, the at least one adapter structure includes an interlocking feature configured to laterally receive and interlock with a first pipette shaft to releasably secure a laboratory tool to the first pipette shaft, and a drive system operable to: laterally move the first pipette shaft relative to the interlocking feature to engage the first pipette shaft with the interlocking feature to secure the laboratory tool to the pipetting module; and laterally move the first pipette shaft relative to the interlocking feature to disengage the first pipette shaft from the interlocking feature, thereby releasing the laboratory tool from the pipetting module.

[0013] In some embodiments, the pipetting module includes a third pipette, the third pipette including a third pipette shaft and a third fluid channel extending through the third pipette shaft and terminating at a third orifice at an end of the third pipette shaft. The at least one adapter structure includes a second interlocking feature configured to laterally receive and interlock with the third pipette shaft to releasably secure a laboratory tool to the third pipette shaft. The drive system is operable to: laterally move the third pipette shaft relative to the second interlocking feature to engage the third pipette shaft with the second interlocking feature to secure the laboratory tool to the pipetting module; and laterally move the third pipette shaft relative to the second interlocking feature to disengage the third pipette shaft from the second interlocking feature, thereby releasing the laboratory tool from the pipetting module.

[0014] In some embodiments, the first pipette includes a pipette interlocking feature located on the first pipette shaft, configured to interlock with the interlocking feature of the at least one adapter structure to releasably secure the laboratory tool to the first pipette shaft.

[0015] In some embodiments, the pipette interlocking feature includes annular ribs.

[0016] According to some embodiments, the experimental facility liquid handling system includes a liquid handling device fluidly connected to a first orifice and a second orifice and operable to dispense and / or draw liquid through the first orifice and the second orifice.

[0017] According to some embodiments, the drive system includes at least one motor and a controller programmed to have instructions such that the at least one motor is used to: engage a first pipette shaft with the at least one adapter structure to secure a laboratory tool to a pipetting module; move the pipetting module to deliver the laboratory tool secured thereto; operate an active actuator using a second pipette shaft; and disengage the first pipette shaft from the at least one adapter structure to release the laboratory tool from the pipetting module.

[0018] According to some embodiments, the clamping mechanism includes a clamping finger and an actuator linkage operable to move the clamping finger between an open position and a closed position. A pipetting module is configured to selectively actuate a second pipette to displace the actuator linkage, thereby moving the clamping finger between the open and closed positions. The second pipette includes a pipetting tip extending from an end of a second pipette shaft. The actuator linkage includes an engagement feature configured to engage the second pipette shaft when the second pipette is actuated to displace the actuator linkage to move the clamping finger between the open and closed positions. The engagement feature includes a tip receiving slot defined therein for receiving the pipetting tip. The at least one adapter structure includes an interlocking feature configured to laterally receive and interlock with the first pipette shaft to releasably secure a laboratory tool to the first pipette shaft. The drive system is operable to: laterally move a first pipette shaft relative to an interlocking feature to engage the first pipette shaft with the interlocking feature to secure a laboratory tool to a pipetting module; and laterally move the first pipette shaft relative to the interlocking feature to disengage the first pipette shaft from the interlocking feature, thereby releasing the laboratory tool from the pipetting module. The laboratory facility liquid handling system includes a liquid handling device fluidly connected to a first orifice and a second orifice and operable to dispense and / or aspirate liquids through the first and second orifices. The drive system includes at least one motor and a controller programmed to have instructions to cause the at least one motor to: engage the first pipette shaft with the at least one adapter structure to secure a laboratory tool to a pipetting module; move the pipetting module to deliver the laboratory tool secured thereto; operate an active actuator using a second pipette shaft; and disengage the first pipette shaft from the at least one adapter structure, thereby releasing the laboratory tool from the pipetting module.

[0019] In some embodiments, the pipetting module includes a third pipette, the third pipette including a third pipette shaft and a third fluid channel extending through the third pipette shaft and terminating at a third orifice at an end of the third pipette shaft. The at least one adapter structure includes a second interlocking feature configured to laterally receive and interlock with the third pipette shaft to releasably secure a laboratory tool to the third pipette shaft. The drive system is operable to: laterally move the third pipette shaft relative to the second interlocking feature to engage the third pipette shaft with the second interlocking feature to secure the laboratory tool to the pipetting module; and laterally move the third pipette shaft relative to the second interlocking feature to disengage the third pipette shaft from the second interlocking feature, thereby releasing the laboratory tool from the pipetting module.

[0020] In some embodiments, the pipetting module includes a third pipette including a third pipette shaft and a third fluid channel extending through the third pipette shaft and terminating at a third orifice at an end of the third pipette shaft. The clamping mechanism includes a second clamping finger and a second actuator linkage operable to move the second clamping finger between an open position and a closed position. The pipetting module is configured to selectively actuate the third pipette to displace the second actuator linkage, thereby moving the second clamping finger between its open position and its closed position.

[0021] According to some embodiments, a method for using a laboratory facility liquid handling system includes a pipetting module and a drive system. The pipetting module includes a first pipette and a second pipette. The first pipette includes a first pipette shaft and a first fluid channel extending through the first pipette shaft and terminating at a first orifice at an end of the first pipette shaft. The second pipette includes a second pipette shaft and a second fluid channel extending through the second pipette shaft and terminating at a second orifice at an end of the second pipette shaft. The method includes: providing a laboratory tool including: at least one integral adapter structure configured to engage the first pipette shaft, wherein the at least one adapter structure is configured to releasably secure the laboratory tool to the first pipette shaft; and an integral active actuator. The method further includes operating the drive system to: engage a first pipette shaft with the at least one adapter structure to secure a laboratory tool to the pipetting module; move the pipetting module to deliver the laboratory tool secured thereto; operate an active actuator using a second pipette shaft; and disengage the first pipette shaft from the at least one adapter structure to release the laboratory tool from the pipetting module.

[0022] According to some embodiments, a laboratory tool for use in a laboratory facility liquid handling system includes a pipetting module and a drive system. The pipetting module includes a first pipette and a second pipette. The first pipette includes a first pipette shaft and a first fluid channel extending through the first pipette shaft and terminating at a first orifice at an end of the first pipette shaft. The second pipette includes a second pipette shaft and a second fluid channel extending through the second pipette shaft and terminating at a second orifice at an end of the second pipette shaft. The laboratory tool includes: at least one integral adapter structure configured to engage the first pipette shaft, wherein the at least one adapter structure is configured to releasably secure the laboratory tool to the first pipette shaft; and an integral active actuator selectively operable using the second pipette shaft. Attached Figure Description

[0023] The accompanying drawings, which form part of this specification, illustrate embodiments of the technology.

[0024] Figure 1 This is a schematic diagram of an experimental facility liquid handling system including a clamping system, according to an embodiment of the present technology.

[0025] Figure 2 It is formed Figure 1 A cross-sectional view of a pipette, which is part of the liquid handling system of the experimental facility.

[0026] Figure 3 It is formed Figure 1 A top-view perspective view of the clamping tool, which is part of the liquid handling system of the experimental facility.

[0027] Figure 4 yes Figure 3 A bottom-view perspective view of the clamping tool.

[0028] Figure 5 yes Figure 3 An exploded top-down perspective view of the clamping tool.

[0029] Figure 6 It is along Figure 3 The intercept of line 6-6 Figure 3 A cross-sectional view of the clamping tool.

[0030] Figure 7-10 This is a partial cross-sectional view of the pipetting module and clamping tool, showing the process steps for engaging and manipulating the clamping tool.

[0031] Figure 11 It is along Figure 8 The intercept of line 11-11 Figure 8 Cross-sectional view of the pipetting module and clamping tool.

[0032] Figure 12 It is along Figure 8 The intercepted by the 12-12 line Figure 8 Cross-sectional view of the pipetting module and clamping tool.

[0033] Figure 13 It is formed Figure 1 A top-down perspective view of the locator dock, which is part of the liquid handling system of the experimental facility.

[0034] Figure 14 It indicates formation Figure 1 A schematic diagram of the controller of a part of the liquid handling system of the experimental facility. Detailed Implementation

[0035] refer to Figure 1-14The laboratory tool system 101 according to some embodiments of the present technology is shown therein. The laboratory tool system 101 forms a laboratory facility liquid handling system 10 according to embodiments of the present technology. Figure 1 The laboratory tool system 101 includes a modular laboratory tool 100 and, optionally, a locator dock 190. The modular laboratory tool 100 includes an integral active actuator 151. In some embodiments (e.g., as shown and described herein), the integral active actuator 151 is a clamping mechanism or a gripping mechanism. The laboratory tool system, laboratory tool, and integral active actuator shown herein are referred to herein as clamping system 101, clamping tool 100, and gripping mechanism 151.

[0036] refer to Figure 1 The illustrated experimental facility liquid handling system 10 includes a platform or benchtop 12, a frame 20, a controller 30, a human-machine interface (HMI) 33, a liquid handling device 40, a drive system 50, a pipetting stand or module 60, and apparatus supports 92, 94. Laboratory items 90 are mounted on the benchtop 12. Laboratory items 90 may include, for example, experimental apparatus such as microplates, racks containing one or more vials, or other suitable types of liquid containers or receivers.

[0037] Frame 20 includes a support member 22 and one or more transfer rails 24. Drive system 50 includes a shuttle or vehicle 52 and drive actuators 53, 54, 55, 56, 57, and 58. Vehicle 52 is operatively mounted on the rails 24 to allow movement of vehicle 52 relative to platform 12. According to some embodiments, vehicle 52 has degrees of freedom of movement in at least two lateral dimensions (i.e., in the X and Y dimensions). Pipette module 60 is coupled to and suspended from vehicle 52 via an extension arm 62, allowing movement with vehicle 52. Under the control of controller 30, vehicle 52 can be driven in the X dimension by actuator 53 and in the Y dimension by actuator 54. Under the control of controller 30, pipetting module 60 can be further moved in the Z dimension by actuator 55. In some embodiments, actuators 56, 57, and 58 may be additional components configured to move or reposition the pipetting module 60 under the control of controller 30, as described below. Each of actuators 53, 54, 55, 56, 57, and 58 may include one or more motors (e.g., electric motors) and may also include suitable linkages. In some embodiments, each of actuators 53, 54, 55, 56, 57, and 58 includes a motor.

[0038] The liquid handling device 40 can be any suitable device capable of drawing a desired amount of liquid from a container and / or dispensing a desired amount of liquid into a container. The liquid handling device 40 may include, for example, a syringe or pump, fluidly connected to the pipetting module 60 via one or more tubing fittings 42 of varying lengths. The liquid handling device 40 may be controlled by a controller 30.

[0039] refer to Figure 1 The pipetting module 60 includes a housing 64 connected to the lower end of the extension arm 62. The pipetting module 60 also includes four pipettes 72, 74, 76, and 78, each connected to the housing 64 via a corresponding actuator assembly 72A, 74A, 76A, 78A. Actuator 56 provides control over the relative positions of pipettes 72, 74, 76, and 78 along the Y-axis. Actuator 57 provides control over the relative positions of pipettes 72, 74, 76, and 78 along the Z-axis. As discussed herein, in some embodiments, a pipetting module with more or fewer pipettes and actuators may be employed.

[0040] Cross-sectional view of pipette 72 Figure 2 As shown in the image. Pipettes 74, 76, and 78 can be configured in the same manner. Each pipette 72, 74, 76, and 78 includes a pipette shaft 80, a liquid tube 82, an ejector sleeve 84, and an end wall 86. According to some embodiments, the pipette shaft 80 is formed of metal.

[0041] refer to Figure 2 A pipette shaft 80 defines a through-channel 80B that terminates at an opening 80E in a lower terminal 80A of the pipette shaft 80. A lower section 80F of the shaft 80 extends beyond the ejector sleeve 84. A pair of axially spaced integral annular ribs 80CU and 80CL are located on the outer surface of the lower section 80F adjacent to the lower terminal 80A. An intermediate section 80G of the lower section 80F extends axially between the ribs 80CU and 80CL. The ribs 80CU, 80CL, and the intermediate section 80G define an annular notch or groove 81 therebetween. According to some embodiments, the outer diameter D1 of the ribs 80CU and 80CL ( Figure 2 The outer diameter D2 (i.e., the bottom of the groove 81) of the middle section 80G is approximately 0.5 to 1 mm larger. According to some embodiments, the outer diameter D1 is in the range of approximately 5.1 to 5.5 mm, and the outer diameter D2 is in the range of approximately 4.5 to 4.7 mm. The lower end 80A of the shaft 80 may have a generally rounded shoulder. The pipette shaft 80 of pipettes 72, 74, 76, and 78 correspondingly defines pipette axes P1-P1, P2-P2, P3-P3, and P4-P4. Figure 7 ).

[0042] The liquid tube 82 extends through the channel 80B, causing its probe or tip section 82C to extend beyond the lower terminal 80A by a distance D4 to reach the lower terminal 82A. Distance D4 ( Figure 2 The diameter can vary and, according to some embodiments, ranges from about 0 to 10 mm. Channel 82B extends through liquid tube 82 to provide fluid communication between end opening 82D and liquid handling device 40 (via fitting 42). A liquid-tight seal can be provided between liquid tube 82 and pipette shaft 80 via end wall 86.

[0043] The extension sleeve 84 defines the channel and surrounds the pipette shaft 80. The extension sleeve 84 can slide up and down along the pipette shaft 80 (i.e., along the Z-axis) under the power of the actuator 58.

[0044] Actuator assemblies 72A, 74A, 76A, and 78A can extend and retract (i.e., lower and raise) pipettes 72, 74, 76, and 78 respectively along the Z-axis relative to housing 64 and independently of each other. Additionally, each actuator assembly 72A-78A can slidably extend and retract the ejector sleeve 84 of its associated pipette 72-78 along the length of the pipette shaft 80 on which the ejector sleeve 84 is mounted.

[0045] Actuator 56 can be used to selectively spread pipettes 72-78 apart along the Y-axis. More specifically, pipettes 72-78 can occupy, for example, Figure 7 The lateral retraction position is shown in the diagram, where pipettes 72-78 are positioned close together relative to each other. Actuator 56 can drive each pipette 72, 74, 76 laterally (along the Y-axis) away from the adjacent pipette, such that pipettes 72-78 occupy as shown in the diagram. Figure 8 The lateral extension or expansion positions are shown in the diagram. In the illustrated embodiment, pipettes 72-78 extend to the left and right from the center. However, other arrangements may also be used.

[0046] Laboratory tool system 101 includes a laboratory tool 100 in the form of a clamping tool. The clamping tool 100 is a module configured for retrieval, delivery, release, and manipulation using a pipetting module 60. The clamping tool 100 is configured to selectively attach to and detach from the pipetting module 60.

[0047] The clamping tool 100 includes a tool body or frame 110, an integral adapter structure 130 mounted on top of the frame 110, and a clamping mechanism 151. The adapter structure 130 can be attached to the frame 110 by any suitable technology, such as fasteners 5, adhesives, welding, or integral molding or machining.

[0048] Tool frame 110 has a lateral axis LL ( Figure 6The tool frame 110 has an upper end 114A and a lower end 114B spaced apart along the lateral axis LL. An adapter slot 116 and a threaded adapter mounting hole 116A are located on the upper end 114A. An elongated actuator through slot 120 extends between the upper end 114A and the lower end 114B. Opposing finger slots 122 are defined in the tool frame 110 at the lateral ends 112A and 112B. A recess 124 ( Figure 4 A pair of locator features in the form of a ) are located on the underside of frame 110.

[0049] Adapter structure 130 ( Figure 5 , Figure 6 , Figure 11 and Figure 12 The adapter includes a body 132 having an elongated main slot 134 communicating with an elongated top opening 135. The slot 134 and the opening 135 extend along the Y-axis. The slot 134 is composed of opposing sidewalls 138A and opposing endwalls 138B and 138C. Figure 11 ( ) Limitation. Slot 134 limits the slot axis CC.

[0050] Support flange 140 (referred to herein as the left support flange) and support flange 142 (referred to herein as the right support flange) are respectively provided on the ends 134A and 134B of the slot 134 and extend laterally inward from the walls 138A, 138B, 138C into the slot 134. Each support flange 140, 142 is generally U-shaped and defines a flange slot 146B and a side or lateral opening 146A communicating with the slot 146B. Each support flange 140, 142 has an end section 148A and an opposing side section 148B. The ends 144 of the flanges 140, 142 are tapered to facilitate entry into the slot 146B. The lateral openings 146A of the support flanges 140, 142 are arranged in an opposing facing relationship along the slot axis CC. Each flange slot 146B defines insertion axes DD, EE ( ) parallel to the axis CC. Figure 6 ).

[0051] The adapter structure 130 can be formed from any suitable material, such as a moldable or machinable polymer material. In some embodiments, the adapter structure 130 is formed from an ultra-high strength polymer, polyetheretherketone (PEEK), polyetherimide (PEI), ULTEM™ resin, or aluminum. The adapter structure 130 can be formed using any suitable technique, such as injection molding.

[0052] The clamping mechanism 151 includes a pair of opposing clamping fingers 150 and a pair of opposing actuator linkages 160, each linkage being associated with a corresponding finger 150. Each clamping finger 150 and its associated actuator linkage together form a clamping mechanism subassembly 153.

[0053] The clamping fingers 150 may be configured similarly or substantially identically. Each clamping finger 150 includes a main leg 152 and a connecting leg 154. The main leg 152 has opposing upper ends 152A and lower ends 152B. The clamping fingers 150 may be formed of any suitable material, such as a rigid polymer or metal. Each finger 150 may also include an extension block 156 and / or an engagement pad 158 (e.g., formed of a relatively soft elastomer).

[0054] The actuator linkage 160 may be configured similarly or substantially the same. Each linkage 160 includes a hinge 162, an actuator leg 164, and one or more springs 168.

[0055] Each hinge 162 includes a finger pivot hole 162A (in the corresponding finger 150), a frame pivot hole 162B (in the corresponding end of the frame 110), and a shaft 162C extending through holes 162A and 162B to pivotally connect the finger to the frame 110 for rotation about the hinge axis HH.

[0056] Each actuator leg 164 is a lever arm having a fixed end 166A fixed to an associated connecting leg 154 (e.g., by a fastener). The opposing free ends 166B of each actuator leg 164 extend into a space below a through slot 120. An elongated tip receiving slot 167 is defined in each actuator leg 164. Each actuator leg 164 may be formed of any suitable material, such as a rigid polymer or metal.

[0057] The clamping receiving area GR is defined between the fingers 150. Spring 168 and hinge 162 are arranged opposite each other such that when the receiving area GR is empty and actuator leg 164 is not loaded (e.g., via a pipette, as discussed herein), spring 168 will force the fingers 150 to occupy the space between them. Figure 7 The fully closed or ready position is shown in the diagram. When either actuator leg 164 is moved downward relative to frame 110 (in direction A1); Figure 6When the actuator leg 164 is released from the displaced position (e.g., via a pipette, as discussed herein), the corresponding finger 150 is thus pivoted or displaced (in direction F1) outward about hinge 162 toward the open position, away from the fully closed position. When either actuator leg 164 is released from the displaced position, the actuator leg 164 moves in direction A2, and the corresponding finger 150 is thus pivoted or displaced (in direction F2) inward about hinge 162 toward the fully closed position by the return load of spring 168.

[0058] In some embodiments, when an article (e.g., a laboratory article or laboratory component 90) is placed in the receiving area GR and is wider than the space between the fingers 150 in the fully closed position, the fingers 150 will occupy a gripping position between the open and fully closed positions and will apply a gripping force (i.e., the spring force from the elastic deflection spring 168) to the article.

[0059] The locator dock 190 includes a dock body 192, a mounting flange 193, a mounting hole 193A, a lifting platform 194, opposing finger recesses 195, and a locator feature or post 196.

[0060] Positioner dock 190 is positioned within reach of pipetting module 60. In some embodiments, positioner dock 190 is located at a predetermined position known to controller 30. Positioner dock 190 can be secured to platform 12 using fasteners passing through mounting holes 193A.

[0061] Now refer to Figure 7-12 Exemplary operation of system 10 and use of clamping tool 100 according to the method of the present technology are described.

[0062] Initially, the clamping tool 100 can be seated on the locator dock 190 (e.g., Figure 1 (as shown in the image), and laboratory item 90 can be placed in a bracket on the tabletop 12.

[0063] When the clamping tool 100 is seated on the locator dock 190, each finger 150 is received in a corresponding finger recess 195, and each locator post 196 is received in a corresponding locator recess 124. In this way, when the clamping tool 100 is retrieved from or placed on the locator dock 190, the clamping tool 100 is definitively positioned relative to the rest of the liquid handling system 10 (e.g., the platform 12) for reference by the controller 30.

[0064] Laboratory item 90 may be, for example, a microplate, end box, sample plate (e.g., a 384-well plate, a 96-well plate, or a deep-well plate), filter device, or a single sample tube containing one or more liquid samples.

[0065] When it is desired to move laboratory items 90, the pipetting module 60 and the clamping system 101 can be used as follows. According to some embodiments, the following process is performed via or by the controller 30 by selectively operating drive actuators 53, 54, 55, 56, 57 and 58.

[0066] The pipetting module 60 is mounted on the frame 20 and repositioned relative to the platform as needed (using the drive system 50) so that the pipette axes P1-P1, P2-P2, P3-P3, and P4-P4 are aligned with the slot 134. If necessary, the controller 30 can adjust the height of the pipetting module 60 (e.g., lower the pipetting module 60).

[0067] With pipettes 72-78 in the lateral retracted position, controller 30 then drives pipettes 72, 74, 76, and 78 downward (i.e., in the -Z direction) along axes P1-P1, P2-P2, P3-P3, and P4-P4, causing their pipette shaft 80 to... Figure 7 Inserted into slot 134 as shown. The pipettes 72, 74, 76, 78 can be driven in this manner by (under the control of controller 30) driving the housing 64 downward relative to the platform 12 (as shown) and / or by extending individual pipettes 72, 74, 76, 78 downward relative to the housing 64 using actuator assemblies 72A, 74A, 76A, 78A.

[0068] The controller 30 then actuates the module 60 to move the pipettes 72, 74, and 76 as follows: Figure 8 , Figure 11 and Figure 12 In the lateral deployment position shown, pipette 72 slides to the left in the lateral direction J (along axis EE) into the flange slot 146B of the support flange 140, and pipette 78 slides to the right in the lateral direction K (along axis DD) into the flange slot 146B of the support flange 142. The support flange 140 is thus axially engaged in the pipette recess 81 of the pipette 72 between the annular ribs 80CL and 80CU, and similarly, the support flange 142 is axially engaged in the pipette recess 81 of the pipette 78.

[0069] refer to Figure 8 , Figure 11 and Figure 12It will be recognized that, through the mechanical interlock between the support flanges 140, 142 and their annular ribs 80CL, pipettes 72 and 78 are now prevented from being withdrawn vertically or axially (i.e., along the Z-axis) from the flange opening 146B. In other words, the support flanges 140, 142 and the annular ribs 80CL serve as a cooperating interlocking structure. Through the fixed, extended width or spacing between pipettes 72 and 78, pipettes 72 and 78 are also prevented from being withdrawn laterally from the opening 146B.

[0070] With the clamping tool 100 now securely mounted on the pipetting module 60, the controller 30 can use the module 60 to lift and transport the clamping tool 100. The clamping tool 100, when... Figure 8 When mounted on the pipetting module 60 as shown in the diagram, it is referred to herein as the mounted clamping tool 100.

[0071] The installed gripping tool 100 can be operated by the controller 30 to grip, transport, release, or place one or more articles using the gripping mechanism 151. The operation of the gripping tool 100 in this manner is described below with reference to the transport of laboratory articles 90. However, this description is illustrative and it will be appreciated that the gripping tool 100 can be used to grasp and move any suitable article.

[0072] The pipetting module 60, on which the clamping tool 100 is mounted, moves on the frame 20 (using the drive system 50) to align the clamping tool 100 above the laboratory item 90. If necessary, the controller 30 can adjust the position of the pipetting module 60 along the X, Y, and / or Z axes.

[0073] The controller 30 then drives the intermediate pipettes 74 and 76 downward (i.e., in the –Z direction) relative to the housing 64 and frame 110 along axes P2-P2, P3-P3, such that their pipette shafts 80 extend and insert through the slot 120, and the ends 80A of the pipettes 74 and 76 engage the actuator leg 164 and force the actuator leg 164 to move in the direction A1, as... Figure 9 As shown in the figure. The clamping mechanism 151 and the clamping fingers 150 are thus converted to, as shown in the figure. Figure 9 The open position is shown in the diagram. The tips 82C of pipettes 74 and 76 are received through the tip slot 167. External pipettes 72 and 78 remain in their initial positions and continue to secure the clamping tool 100 to the pipetting module 60.

[0074] Then, the pipetting module 60, on which the clamping tool 100 is mounted (and in the open position), moves on the frame 20 (using the drive system 50) to place the clamping tool 100 over the laboratory item 90, so that the laboratory item 90 is received in the gripping area GR.

[0075] The controller 30 then drives the intermediate pipettes 74 and 76 upward along axes P2-P2 and P3-P3 (i.e., in direction +Z), causing their pipette shafts 80 to retract through the slot 120, and pipettes 74 and 76 to release actuator legs 164 to return in direction A2 under the load of spring 168, as... Figure 10 As shown in the figure. The clamping mechanism 151 and the clamping fingers 150 are thus converted to, as shown in the figure. Figure 10 The gripping position is shown in the diagram. The external pipettes 72 and 78 remain in their initial positions and continue to secure the clamping tool 100 to the pipetting module 60.

[0076] Laboratory item 90 is thus gripped in and held or supported by the fingers 150. In some embodiments, the width or shape of the laboratory item 90 holds the gripping fingers 150 in a gripping position that is not fully closed. In this case, the spring 168 continues to apply a continuous gripping force to the fingers 150. In some embodiments, the width or shape of the laboratory item 90 allows the gripping fingers 150 to return to a fully closed position when the laboratory item is within the gripping area GR, and the fingers 150 continue to hold the laboratory item 90 using interlocking engagement.

[0077] The pipetting module 60 is mounted on the frame 20 and moves relative to the platform as needed (using the drive system 50) to position the laboratory item 90 in the desired location. If necessary, the controller 30 can adjust the position of the pipetting module 60 along the X, Y, and / or Z axes. Once the laboratory item 90 is in the desired position, the controller 30 drives the intermediate pipettes 74, 76 downwards along axes P2-P2, P3-P3 (i.e., in the –Z direction) to force the actuator leg 164 to move in the A1 direction and place the clamping mechanism 151 and clamping fingers 150 in the open position. The laboratory item 90 is thus released from the clamping tool 100, and the controller 30 can move the mounted clamping tool 100 away. The system 10 can be used in this way to move and position the laboratory item 90 as desired. For example, the system 10 can move the laboratory item 90 from a first instrument holder or station 92 on the platform 12 to a second instrument holder or station 94 on the platform 12.

[0078] The aforementioned process can be repeated multiple times using the same or different laboratory items 90. The clamping tool 100 can then be removed from the pipetting module 60. The clamping tool 100 can be returned to the locator dock 190 or placed elsewhere.

[0079] By reversing the aforementioned steps, the pipetting module 60 can be detached from the adapter structure 130 to release the clamping tool 100. More specifically, the controller 30 laterally retracts the pipettes 72-78 from the slot 146B and then lifts the pipettes 72-78 from the slot 134.

[0080] The main slot 134 has a width W1 ( Figure 12 It is larger than the outer diameter D1 of the pipette ring ribs 80CL and 80CU. Figure 12 Each flange slot 146B has a width W2 ( Figure 12 ), which is smaller than at least the diameter D1 of the upper annular rib 80CU ( Figure 2 ), and is larger than the diameter D2 of the middle section 80G between the annular ribs 80CL and 80CU ( Figure 12 ).

[0081] According to some embodiments and as shown, the slot is inserted into the axis DD, EE ( Figure 11 The insertion directions J and K are substantially perpendicular to the insertion direction –Z (e.g., horizontal or perpendicular to the vertical direction). However, in some embodiments, the lateral insertion direction may be transverse to the insertion direction of the pipette in the slot 134 (e.g., -Z) but not perpendicular to that insertion direction.

[0082] Although the U-shaped support flanges 140, 142 have been shown and described herein, other configurations of interlocking structures may also be employed according to other embodiments of the present technology.

[0083] When pipettes 72, 74, 76, and 78 are not installed in the adapter structure, pipettes 72, 74, 76, and 78 can continue to be used for pipetting using their tips 82C. Therefore, the liquid handling system 10 can operate differently in known or other desired ways. For example, the controller 30 can place one or more tips 82C of pipettes 72, 74, 76, and 78 in or above a liquid sample volume (e.g., in one or more compartments of a microplate or other container on platform 12), and then the liquid handling device 40 can aspirate and collect liquid from that volume or dispense material into that volume. If liquid has been collected, the controller 30 can then move pipettes 72, 74, 76, and 78 to another location or above that location (e.g., a different compartment or container from which liquid was collected) and dispense liquid into this new location.

[0084] In some embodiments or applications, the integral tip 82C is used for direct aspiration and dispensing. In other embodiments or applications, a disposable tip is mounted on the pipette shaft above the integral tip 82C, and the disposable tip is used for aspiration and dispensing. Pipettes 72, 74, 76, and 78 may have configurations different from those described and shown in the figures. For example, alternative pipettes may be adapted to have a disposable tip mounted on their distal end instead of the integral tip 82C.

[0085] As mentioned above, the operations described herein can be performed by or through the controller 30. Actuators 53, 54, 55, 56, 57, 58 and other devices of the pipetting module 60 and / or the liquid handling device 40 can be electronically controlled. According to some embodiments, the controller 30 performs some of the described steps in a programmed manner, and in some embodiments, it performs all of the described steps. According to some embodiments, the movements of the pipetting module 60 for picking up, moving, and releasing laboratory components are performed entirely automatically and programmed by the controller 30.

[0086] The clamping system 101 and clamping tool 100 can be connected to / disconnected from the pipetting module or arm to increase the ability to move experimental instruments from any platform position to any platform position without compromising the pipetting capability of the pipetting module or arm. The clamping tool can enhance the functionality of the pipetting module and replace or eliminate the need for a separate clamping module or arm. In this way, the clamping tool can significantly reduce the cost of the instrument.

[0087] The clamping tool can be adapted to different experimental apparatuses by changing the configuration of the fingers 150. Extensions 156 of different sizes and shapes can be mounted on the fingers 150 to configure the clamping tool to hold different types of experimental apparatuses, such as relatively large well plates or relatively small single sample tubes.

[0088] The controller 30 can be any suitable device for providing the functionality described herein. According to some embodiments, the controller 30 is a suitably configured microprocessor-based personal computer.

[0089] Embodiments of the controller 30 logic may take the form of a completely software embodiment or an embodiment combining software and hardware aspects, all of which are generally referred to herein as a "circuit" or "module". In some embodiments, the circuit includes both software and hardware, and the software is configured to work with specific hardware having known physical properties and / or configurations. Furthermore, the controller 30 logic may take the form of a computer program product on a computer-readable storage medium having computer-readable program code implemented therein. Any suitable computer-readable medium may be used, including hard disks, CD-ROMs, optical storage devices, transmission media (such as those supporting the Internet or intranets), or other storage devices.

[0090] Figure 14 This is a schematic diagram of a circuit or data processing system that can be used in controller 30. The circuit and / or data processing system can be integrated into a digital signal processor 32 in any suitable device or multiple devices. Processor 32 communicates with HMI 33 and memory 34 via address / data bus 32A. Processor 32 can be any commercially available or custom microprocessor. Memory 34 represents the overall hierarchy of memory devices containing the software and data used to implement the functionality of the data processing system. Memory 34 can be, but is not limited to, the following types of devices: cache, ROM, PROM, EPROM, EEPROM, flash memory, SRAM, and DRAM.

[0091] Figure 14 The memory 34 is shown to include several categories of software and data used in a data processing system: operating system 34A; application programs 34B; input / output (I / O) device drivers 34C; and data 34D. Data 34D may include equipment-specific data. Figure 14 It is also shown that data 34D may include mapping data 35A, laboratory component data 35B, process data 35C, and laboratory tool data 35D. Figure 14 The application 34B is also shown to include a pipette positioning module 36A and a liquid handling device control module 36B.

[0092] Mapping data 35A may include data representing the position (e.g., X, Y, and Z coordinates) of items or components in the workspace of system 10. Laboratory component data 35B may include data representing the characteristics of laboratory components or multiple laboratory components (e.g., laboratory apparatus 90). Process data 35C may include data representing the protocol or sequence of steps used to perform the process described herein. Laboratory tool data 35D includes data representing the characteristics of laboratory tool 100.

[0093] The pipette positioning module 36A can be used to control actuators 53, 54, 55, 56, 57, 58 and actuators 72A-78A, for example, to position and reposition the pipette module 60, pipettes 72-78 and ejector sleeve 84. The liquid handling device control module 36B can be used to control the actuation of the liquid handling device 40 to draw and / or dispense fluid.

[0094] As will be appreciated by those skilled in the art, the operating system 34A may be any operating system suitable for use in conjunction with the data processing system, such as OS / 2, AIX, DOS, OS / 390, or System390 from Armonk International Business Machines Corporation, New York; Windows CE, Windows NT, Windows 95, Windows 98, Windows 2000, or other versions of Windows from Microsoft Corporation, Redmond, Washington; Unix or Linux or FreeBSD, Palm OS from Palm Corporation; Mac OS, LabVIEW from Apple Computer Corporation; or proprietary operating systems. The I / O device driver 34C typically includes software routines accessed by the application 34B through the operating system 34A for communicating with devices such as I / O data ports, data storage, and certain memory components. The application 34B describes programs that implement various features of the data processing system and may include at least one application software that supports operation according to embodiments of the present technology. Finally, data 34D represents static and dynamic data used by the application 34B, the operating system 34A, the I / O device driver 34C, and other software programs that may reside in memory 34.

[0095] As will be recognized by those skilled in the art, other configurations may also be utilized while still benefiting from the teachings of this technology. For example, one or more modules in Modules 36A-B may be incorporated into other such logical partitions of an operating system, I / O device drivers, or data processing system. Therefore, this technology should not be construed as being limited to Figure 14 The configuration is intended to cover any configuration capable of performing the operations described herein. Furthermore, one or more of these modules may communicate with other components such as controller 30, or be wholly or partially integrated into other components such as controller 30.

[0096] Other embodiments may include one or more adapter structures of a different type or configuration than adapter structure 130. For example, in some alternative embodiments, an adapter structure as disclosed in U.S. Patent No. 8,809,069 to Brady et al. is provided to selectively and releasably attach laboratory tools to the pipette of pipetting module 60.

[0097] Other embodiments may include laboratory tools that include an integral active actuator that is different from or other than a gripping mechanism.

[0098] This technology has been described herein with reference to the accompanying drawings, which illustrate exemplary embodiments of the technology. In the drawings, the relative sizes of areas or features may be exaggerated for clarity. However, this technology may be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to make this disclosure exhaustive and complete, and will fully convey the scope of the technology to those skilled in the art.

[0099] It will be understood that although the terms first, second, etc., may be used herein to describe various elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited to these terms. These terms are only used to distinguish one element, component, region, layer, or section from another region, layer, or section. Therefore, without departing from the teachings of this art, the first element, component, region, layer, or section discussed below may be referred to as a second element, component, region, layer, or section.

[0100] Spatial relative terms, such as "below," "below," "lower," "above," "upper," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to another element or feature as illustrated in the figures. It will be understood that spatial relative terms are intended to cover different orientations of the device in use or operation other than those depicted in the figures. For example, if the device in the figures is flipped, an element described as "below" or "below" of the other element or feature will subsequently be oriented "above" the other element or feature. Thus, the exemplary term "below" can encompass both above and below orientations. The device may be oriented in other ways (rotated 90° or in other orientations), and the spatial relative descriptive terms used herein should be interpreted accordingly.

[0101] As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless otherwise expressly stated. It will also be understood that the terms “comprising,” “including,” “containing,” and / or “covering,” when used in this specification, specify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It will be understood that when an element is referred to as “connected” or “linked” to another element, it can be directly connected or linked to the other element, or there may be an intermediate element. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items.

[0102] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It will also be understood that terms, such as those defined in commonly used dictionaries, shall be interpreted as having the same meaning as they have in the relevant field and in the context of this specification, and shall not be interpreted in an idealized or overly formal sense unless expressly defined herein.

[0103] The term "automatically" means that the operation is carried out essentially (and can be completely) without human or manual input, and can be programmed or performed.

[0104] The term "programmatically" refers to an operation that is electronically directed and / or primarily performed by computer program modules, code, and / or instructions.

[0105] The term "electronic ground" encompasses both wireless and wired connections between components.

[0106] The term "integral" refers to a single, integral part formed or composed of materials without joints or seams.

[0107] In view of the benefits of this disclosure, many changes and modifications can be made by those skilled in the art without departing from the spirit and scope of this technology. Therefore, it must be understood that the illustrated embodiments are merely illustrative and should not be construed as limiting the technology as defined by the following claims. Accordingly, the following claims should be construed as including not only combinations of elements literally set forth, but also all equivalent elements for performing substantially the same function in substantially the same manner to obtain substantially the same results. Therefore, the claims should be understood to include what is specifically shown and described herein, conceptually equivalent content, and content incorporating the basic concept of this technology.

Claims

1. A liquid handling system for an experimental facility, comprising: The pipetting module includes: The first pipette includes: First pipette shaft; and A first fluid channel extends through the first pipette shaft and terminates at a first orifice at the end of the first pipette shaft; and The second pipette includes: Second pipette shaft; and A second fluid channel extends through the second pipette shaft and terminates at a second orifice at the end of the second pipette shaft; Laboratory tools, including: At least one integral adapter structure configured to engage the first pipette shaft, wherein the at least one adapter structure is configured to releasably secure the laboratory tool to the first pipette shaft; and Integrated active actuator; and Drive system, which is capable of operating in the following ways: The first pipette shaft is engaged with the at least one adapter structure to secure the laboratory tool to the pipetting module; Move the pipetting module to deliver the laboratory tool attached thereto; Operate the active actuator using the second pipette axis; and Disconnect the first pipette shaft from the at least one adapter structure, thereby releasing the laboratory tool from the pipetting module.

2. The experimental facility liquid handling system according to claim 1, wherein: The laboratory tool is a clamping module; and The active actuator is a clamping mechanism.

3. The experimental facility liquid handling system according to claim 2, wherein, The clamping mechanism is a mechanical clamping mechanism.

4. The experimental facility liquid handling system according to claim 3, wherein: The clamping mechanism includes: Clamping finger-like parts; and An actuator linkage mechanism operable to move the gripping fingers between an open position and a closed position; and The pipetting module is configured to selectively drive the second pipette to move the actuator linkage and thereby move the gripping finger between the open position and the closed position.

5. The experimental facility liquid handling system according to claim 4, wherein: The clamping mechanism includes a lever arm connected to the clamping fingers; as well as The pipetting module is configured to selectively drive the second pipette to move the lever arm and thereby move the clamping finger between the open position and the closed position.

6. The experimental facility liquid handling system according to claim 4, wherein: The second pipette includes a pipetting tip extending from the end of the second pipette shaft; The actuator linkage includes an engagement feature configured to engage the second pipette shaft when the second pipette is driven to move the actuator linkage, causing the clamping finger to move between the open position and the closed position. as well as The joining feature includes a terminal receiving slot defined therein for receiving the pipetting terminal.

7. The experimental facility liquid handling system according to claim 4, wherein, The clamping mechanism includes at least one spring that biases the clamping fingers toward the closed position.

8. The experimental facility liquid handling system according to claim 3, wherein: The pipetting module includes a third pipette, which includes: Third pipette shaft; and A third fluid channel extends through the third pipette shaft and terminates at a third orifice at the end of the third pipette shaft; The clamping mechanism includes: The second clamping finger; and A second actuator linkage mechanism, operable to move the second clamping finger between an open position and a closed position; and The pipetting module is configured to selectively drive the third pipette to move the second actuator linkage and thereby move the second gripping finger between its open position and its closed position.

9. The experimental facility liquid handling system of claim 1, further comprising a locator dock configured to support the laboratory tool and to position the laboratory tool definitively relative to the experimental facility liquid handling system.

10. The experimental facility liquid handling system according to claim 1, wherein: The at least one adapter structure includes an interlocking feature configured to laterally receive and interlock with the first pipette shaft to releasably secure the laboratory tool to the first pipette shaft; and The drive system is capable of operating as follows: The first pipette shaft is moved laterally relative to the interlocking feature to engage with the interlocking feature and secure the laboratory tool to the pipetting module. as well as The first pipette shaft is moved laterally relative to the interlocking feature to disengage it from the interlocking feature, thereby releasing the laboratory tool from the pipetting module.

11. The experimental facility liquid handling system according to claim 10, wherein: The pipetting module includes a third pipette, which includes: Third pipette shaft; and A third fluid channel extends through the third pipette shaft and terminates at a third orifice at the end of the third pipette shaft; and The at least one adapter structure includes a second interlocking feature configured to laterally receive and interlock with the third pipette shaft to releasably secure the laboratory tool to the third pipette shaft; and The drive system is capable of operating as follows: The third pipette shaft is moved laterally relative to the second interlocking feature to engage with the second interlocking feature, thereby securing the laboratory tool to the pipetting module; and The third pipette shaft is moved laterally relative to the second interlock feature to disengage the third pipette shaft from the second interlock feature, thereby releasing the laboratory tool from the pipetting module.

12. The experimental facility liquid handling system according to claim 10, wherein, The first pipette includes a pipette interlocking feature located on the first pipette shaft, the pipette interlocking feature being configured to interlock with the interlocking feature of the at least one adapter structure to releasably secure the laboratory tool to the first pipette shaft.

13. The experimental facility liquid handling system according to claim 12, wherein, The pipette interlocking feature includes annular ribs.

14. The experimental facility liquid handling system of claim 1, comprising a liquid handling device fluidly connected to the first orifice and the second orifice, and operable to dispense and / or draw liquid through the first orifice and the second orifice.

15. The experimental facility liquid handling system according to claim 1, wherein, The drive system includes: At least one motor; and A controller, programmed to have instructions that cause the at least one motor to: The first pipette shaft is engaged with the at least one adapter structure to secure the laboratory tool to the pipetting module; Move the pipetting module to deliver the laboratory tool attached thereto; Operate the active actuator using the second pipette axis; and Disconnect the first pipette shaft from the at least one adapter structure, thereby releasing the laboratory tool from the pipetting module.

16. The experimental facility liquid handling system according to claim 2, wherein: The clamping mechanism includes: Clamping finger-like parts; and An actuator linkage device is operable to move the gripping fingers between an open position and a closed position; The pipetting module is configured to selectively drive the second pipette to move the actuator linkage device, and thereby move the clamping finger between the open position and the closed position; The second pipette includes a pipetting tip extending from the end of the second pipette shaft; The actuator linkage includes an engagement feature configured to engage the second pipette shaft when the second pipette is driven to move the actuator linkage, causing the clamping finger to move between the open position and the closed position. The joining feature includes a distal receiving slot defined therein for receiving the pipetting distal end; The at least one adapter structure includes an interlocking feature configured to receive the first pipette shaft laterally and interlock with the first pipette shaft to releasably secure the laboratory tool to the first pipette shaft. The drive system is capable of operating as follows: The first pipette shaft is moved laterally relative to the interlocking feature to engage with the interlocking feature, thereby securing the laboratory tool to the pipetting module; and The first pipette shaft is moved laterally relative to the interlock feature to disengage it from the interlock feature, thereby releasing the laboratory tool from the pipetting module; The experimental facility's liquid handling system includes a liquid handling device fluidly connected to the first orifice and the second orifice, and operable to dispense and / or draw liquid through the first orifice and the second orifice; and The drive system includes: At least one motor; and A controller, programmed to have instructions that cause the at least one motor to: The first pipette shaft is engaged with the at least one adapter structure to secure the laboratory tool to the pipetting module; Move the pipetting module to deliver the laboratory tool attached thereto; Operate the active actuator using the second pipette axis; and Disconnect the first pipette shaft from the at least one adapter structure, thereby releasing the laboratory tool from the pipetting module.

17. The experimental facility liquid handling system according to claim 16, wherein: The pipetting module includes a third pipette, which includes: Third pipette shaft; and A third fluid channel extends through the third pipette shaft and terminates at a third orifice at the end of the third pipette shaft; and The at least one adapter structure includes a second interlocking feature configured to laterally receive and interlock with the third pipette shaft to releasably secure the laboratory tool to the third pipette shaft; and The drive system is capable of operating as follows: The third pipette shaft is moved laterally relative to the second interlocking feature to engage with the second interlocking feature, thereby securing the laboratory tool to the pipetting module; and The third pipette shaft is moved laterally relative to the second interlock feature to disengage the third pipette shaft from the second interlock feature, thereby releasing the laboratory tool from the pipetting module.

18. The experimental facility liquid handling system according to claim 16, wherein: The pipetting module includes a third pipette, which includes: Third pipette shaft; and A third fluid channel extends through the third pipette shaft and terminates at a third orifice at the end of the third pipette shaft; The clamping mechanism includes: The second clamping finger; and A second actuator linkage mechanism, operable to move the second clamping finger between an open position and a closed position; and The pipetting module is configured to selectively drive the third pipette to move the second actuator linkage and thereby move the second gripping finger between its open position and its closed position.

19. A method for using a laboratory facility liquid handling system, the laboratory facility liquid handling system comprising a pipetting module and a drive system, the pipetting module comprising a first pipette and a second pipette, the first pipette comprising a first pipette shaft and a first fluid channel extending through the first pipette shaft and terminating at a first orifice at an end of the first pipette shaft, and the second pipette comprising a second pipette shaft and a second fluid channel extending through the second pipette shaft and terminating at a second orifice at an end of the second pipette shaft, the method comprising: Provide laboratory tools, said laboratory tools including: At least one integral adapter structure configured to engage the first pipette shaft, wherein the at least one adapter structure is configured to releasably secure the laboratory tool to the first pipette shaft; and Integrated active actuator; and Operate the drive system to: The first pipette shaft is engaged with the at least one adapter structure to secure the laboratory tool to the pipetting module; Move the pipetting module to deliver the laboratory tool attached thereto; Operate the active actuator using the second pipette axis; and Disconnect the first pipette shaft from the at least one adapter structure, thereby releasing the laboratory tool from the pipetting module.

20. A laboratory tool for use in a liquid handling system of an experimental facility, the liquid handling system comprising a pipetting module and a drive system, the pipetting module comprising a first pipette and a second pipette, the first pipette comprising a first pipette shaft and a first fluid channel extending through the first pipette shaft and terminating at a first orifice at an end of the first pipette shaft, and the second pipette comprising a second pipette shaft and a second fluid channel extending through the second pipette shaft and terminating at a second orifice at an end of the second pipette shaft, the laboratory tool comprising: At least one integral adapter structure configured to engage the first pipette shaft, wherein the at least one adapter structure is configured to releasably secure the laboratory tool to the first pipette shaft; and An integrated active actuator that can be selectively operated using the second pipette shaft.

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